/// <summary>
/// Map PointDepth3D to PointSkeleton3D
/// </summary>
/// <param name="depthImageFormat"></param>
/// <param name="pointDepth3D"></param>
/// <returns></returns>
public PointSkeleton3D MapDepthPointToSketelonPoint(DepthImageFormat depthImageFormat, PointDepth3D pointDepth3D)
{
DepthImagePoint point = new DepthImagePoint();
point.X = pointDepth3D.X;
point.Y = pointDepth3D.Y;
point.Depth = pointDepth3D.Depth;
return new PointSkeleton3D(mapper.MapDepthPointToSkeletonPoint(depthImageFormat, point));
}
public Hand(PointDepth3D[] pixel3D, PointDepth3D trackPalm, int RWidth = 100, int RHeight = 100)
{
this.pixelDepth3D = pixel3D;
this.kinectTrackPalm = trackPalm;
this.kinectPalmDetph = trackPalm.Depth;
this.rectWidth = RWidth;
this.rectHeight = RHeight;
contourPixels = new List<Point2D>();
interiorPixels = new List<Point2D>();
}
public Hand(PointDepth3D[] pixel3D, PointDepth3D trackPalm, int RWidth = 100, int RHeight = 100)
{
this.pixelDepth3D = pixel3D;
this.kinectTrackPalm = trackPalm;
this.kinectPalmDetph = trackPalm.Depth;
this.rectWidth = RWidth;
this.rectHeight = RHeight;
contourPixels = new List <Point2D>();
interiorPixels = new List <Point2D>();
}
/// <summary>
/// Depth Frame Ready
/// According to the Hand position tracked by Kinect, extract small Rectangular pixels matrix for hand tracking
/// Extract pixels for each frame, each pixel in matrix has the X,Y,Depth information
/// Construct Hand instance, do hand tracking, draw with returning positions of fingertips and palm
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void sensor_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
if (!skeletonReadyFlag)
{
return;
}
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
CoordinateMapperPlus mapper = new CoordinateMapperPlus(this.sensor);
PointDepth3D palmDepth3D = mapper.MapSkeletonPointToDepthPoint(rightHand, this.sensor.DepthStream.Format);
int index = palmDepth3D.Y * DepthFrameWidth + palmDepth3D.X;
if (index < 0 || index > this.depthPixels.Length)
{
return;
}
short currDepth = depthPixels[index].Depth;
int indexColor = 0;
int rectSize = 0;
for (int i = 0; i < this.DepthFrameWidth; i++)
{
for (int j = 0; j < this.DepthFrameHeight; j++)
{
indexColor = (j * this.DepthFrameWidth + i) * 4;
if (KinectUtil.isInTrackRegion(i, j, palmDepth3D.X, palmDepth3D.Y))
{
int indexDepthPixels = j * this.DepthFrameWidth + i;
rectDepth3D[rectSize++] = new PointDepth3D(i, j, depthPixels[indexDepthPixels].Depth);
//Draw depth pixel according to different distance
this.depthColor[indexColor + BLUE] = 255;
this.depthColor[indexColor + GREEN] = 0;
this.depthColor[indexColor + RED] = 0;
this.depthColor[indexColor + AlPHA] = 0;
if (depthPixels[indexDepthPixels].Depth >= currDepth - 100 &&
depthPixels[indexDepthPixels].Depth <= currDepth + 100)
{
this.depthColor[indexColor + BLUE] = 255;
this.depthColor[indexColor + GREEN] = 255;
this.depthColor[indexColor + RED] = 255;
this.depthColor[indexColor + AlPHA] = 0;
}
}
else
{
this.depthColor[indexColor + BLUE] = 0;
this.depthColor[indexColor + GREEN] = 0;
this.depthColor[indexColor + RED] = 0;
this.depthColor[indexColor + AlPHA] = 0;
}
}
}
#region
//for (int i = 0,depthColorIndex = 0; i < this.depthPixels.Length; i++, depthColorIndex += 4)
//{
// if (pointRight.X >= (int)(i % this.sensor.DepthStream.FrameWidth) - 50 &&
// pointRight.X <= (int)(i % this.sensor.DepthStream.FrameWidth) + 50 &&
// pointRight.Y >= (int)(i / this.sensor.DepthStream.FrameWidth) - 40 &&
// pointRight.Y <= (int)(i / this.sensor.DepthStream.FrameWidth) + 60)
// {
// this.depthColor[depthColorIndex + BLUE] = 255;
// this.depthColor[depthColorIndex + GREEN] = 0;
// this.depthColor[depthColorIndex + RED] = 0;
// this.depthColor[depthColorIndex + AlPHA] = 0;
// if (depthPixels[i].Depth >= nearDepth - 100 && depthPixels[i].Depth <= nearDepth + 100)
// {
// this.depthColor[depthColorIndex + BLUE] = 255;
// this.depthColor[depthColorIndex + GREEN] = 255;
// this.depthColor[depthColorIndex + RED] = 255;
// this.depthColor[depthColorIndex + AlPHA] = 0;
// }
// }
// else
// {
// this.depthColor[depthColorIndex + BLUE] = 0;
// this.depthColor[depthColorIndex + GREEN] = 0;
// this.depthColor[depthColorIndex + RED] = 0;
// this.depthColor[depthColorIndex + AlPHA] = 0;
// }
//}
#endregion
//Construct Hand instance for tracker, then do hand tracking
if (rectSize == rectWidth * rectHeight)
{
detector.RightHand = new Hand(rectDepth3D, palmDepth3D, rectWidth, rectHeight);
detector.DetectAndSmooth(timeStamp);
//Fingers.Identify(this.Sketelon3DFingerTips,timeStamp);
//Fingers.Identify2(this.Sketelon3DFingerTips,rightHand, rightWrist);
Fingers.Identify3(this.Sketelon3DFingerTips, timeStamp);
timeStamp = (++timeStamp) % KinectUtil.LOOP_TIMES;
foreach (var element in detector.Depth3DFingerTips)
{
int k = (element.Y * DepthFrameWidth + element.X) * 4;
for (int i = k - 20; i < k + 20; i += 4)
{
depthColor[i + BLUE] = 0;
depthColor[i + GREEN] = 0;
depthColor[i + RED] = 255;
}
}
}
this.depthBitmap.WritePixels(
new Int32Rect(0, 0, this.depthBitmap.PixelWidth, this.depthBitmap.PixelHeight),
this.depthColor,
this.depthBitmap.PixelWidth * sizeof(int),
0);
readyEvent.afterDepthReady();
}
}
}
public PointDepth3D(PointDepth3D point)
{
this.X = point.X;
this.Y = point.Y;
this.Depth = point.Depth;
}
/// <summary>
/// Depth Frame Ready
/// According to the Hand position tracked by Kinect, extract small Rectangular pixels matrix for hand tracking
/// Extract pixels for each frame, each pixel in matrix has the X,Y,Depth information
/// Construct Hand instance, do hand tracking, draw with returning positions of fingertips and palm
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void sensor_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
if (!skeletonReadyFlag)
return;
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
CoordinateMapperPlus mapper = new CoordinateMapperPlus(this.sensor);
PointDepth3D palmDepth3D = mapper.MapSkeletonPointToDepthPoint(rightHand, this.sensor.DepthStream.Format);
int index = palmDepth3D.Y * DepthFrameWidth + palmDepth3D.X;
if (index < 0 || index > this.depthPixels.Length)
return;
short currDepth = depthPixels[index].Depth;
int indexColor = 0;
int rectSize = 0;
for (int i = 0; i < this.DepthFrameWidth; i++)
{
for (int j = 0; j < this.DepthFrameHeight; j++)
{
indexColor = (j * this.DepthFrameWidth + i) * 4;
if (KinectUtil.isInTrackRegion(i, j, palmDepth3D.X, palmDepth3D.Y))
{
int indexDepthPixels = j * this.DepthFrameWidth + i;
rectDepth3D[rectSize++] = new PointDepth3D(i, j, depthPixels[indexDepthPixels].Depth);
//Draw depth pixel according to different distance
this.depthColor[indexColor + BLUE] = 255;
this.depthColor[indexColor + GREEN] = 0;
this.depthColor[indexColor + RED] = 0;
this.depthColor[indexColor + AlPHA] = 0;
if (depthPixels[indexDepthPixels].Depth >= currDepth - 100
&& depthPixels[indexDepthPixels].Depth <= currDepth + 100)
{
this.depthColor[indexColor + BLUE] = 255;
this.depthColor[indexColor + GREEN] = 255;
this.depthColor[indexColor + RED] = 255;
this.depthColor[indexColor + AlPHA] = 0;
}
}
else
{
this.depthColor[indexColor + BLUE] = 0;
this.depthColor[indexColor + GREEN] = 0;
this.depthColor[indexColor + RED] = 0;
this.depthColor[indexColor + AlPHA] = 0;
}
}
}
#region
//for (int i = 0,depthColorIndex = 0; i < this.depthPixels.Length; i++, depthColorIndex += 4)
//{
// if (pointRight.X >= (int)(i % this.sensor.DepthStream.FrameWidth) - 50 &&
// pointRight.X <= (int)(i % this.sensor.DepthStream.FrameWidth) + 50 &&
// pointRight.Y >= (int)(i / this.sensor.DepthStream.FrameWidth) - 40 &&
// pointRight.Y <= (int)(i / this.sensor.DepthStream.FrameWidth) + 60)
// {
// this.depthColor[depthColorIndex + BLUE] = 255;
// this.depthColor[depthColorIndex + GREEN] = 0;
// this.depthColor[depthColorIndex + RED] = 0;
// this.depthColor[depthColorIndex + AlPHA] = 0;
// if (depthPixels[i].Depth >= nearDepth - 100 && depthPixels[i].Depth <= nearDepth + 100)
// {
// this.depthColor[depthColorIndex + BLUE] = 255;
// this.depthColor[depthColorIndex + GREEN] = 255;
// this.depthColor[depthColorIndex + RED] = 255;
// this.depthColor[depthColorIndex + AlPHA] = 0;
// }
// }
// else
// {
// this.depthColor[depthColorIndex + BLUE] = 0;
// this.depthColor[depthColorIndex + GREEN] = 0;
// this.depthColor[depthColorIndex + RED] = 0;
// this.depthColor[depthColorIndex + AlPHA] = 0;
// }
//}
#endregion
//Construct Hand instance for tracker, then do hand tracking
if (rectSize == rectWidth * rectHeight)
{
detector.RightHand = new Hand(rectDepth3D, palmDepth3D, rectWidth, rectHeight);
detector.DetectAndSmooth(timeStamp);
//Fingers.Identify(this.Sketelon3DFingerTips,timeStamp);
//Fingers.Identify2(this.Sketelon3DFingerTips,rightHand, rightWrist);
Fingers.Identify3(this.Sketelon3DFingerTips,timeStamp);
timeStamp = (++timeStamp) % KinectUtil.LOOP_TIMES;
foreach (var element in detector.Depth3DFingerTips)
{
int k = (element.Y * DepthFrameWidth + element.X) * 4;
for (int i = k - 20; i < k + 20; i += 4)
{
depthColor[i + BLUE] = 0;
depthColor[i + GREEN] = 0;
depthColor[i + RED] = 255;
}
}
}
this.depthBitmap.WritePixels(
new Int32Rect(0, 0, this.depthBitmap.PixelWidth, this.depthBitmap.PixelHeight),
this.depthColor,
this.depthBitmap.PixelWidth * sizeof(int),
0);
readyEvent.afterDepthReady();
}
}
}
public PointDepth3D(PointDepth3D point)
{
this.X = point.X;
this.Y = point.Y;
this.Depth = point.Depth;
}
/// <summary>
/// Depth Slice, generate the valid matrix
/// </summary>
/// <param name="pixel3D"></param>
/// <param name="Depth"></param>
/// <returns>bool[][] valid</returns>
private bool[][] generateValidMatrix(PointDepth3D[] pixel3D, float Depth, int dalitionErosionMask)
{
bool[][] valid = new bool[rectWidth][];
for (int i = 0; i < valid.Length; i++)
{
valid[i] = new bool[rectHeight];
}
for (int i = 0; i < valid.Length; i++)
{
for (int j = 0; j < valid[i].Length; j++)
{
int index = j * rectWidth + i;
if (pixel3D[index].Depth <= Depth + 100 && pixel3D[index].Depth >= Depth - 100)
{
valid[i][j] = true;
}
else
{
valid[i][j] = false;
}
}
}
//Noisy Reduction
if (dalitionErosionMask > 0)
{
valid = Denoise.Dilation(valid, dalitionErosionMask);
valid = Denoise.Erosion(valid, dalitionErosionMask);
}
// Mark as not valid the borders of the matrix to improve the efficiency in some methods
int m;
// First row
for (int j = 0; j < valid[0].Length; ++j)
valid[0][j] = false;
// Last row
m = valid.Length - 1;
for (int j = 0; j < valid[0].Length; ++j)
valid[m][j] = false;
// First column
for (int i = 0; i < valid.Length; ++i)
valid[i][0] = false;
// Last column
m = valid[0].Length - 1;
for (int i = 0; i < valid.Length; ++i)
valid[i][m] = false;
return valid;
}
/// <summary>
/// Map PointDepth3D to PointSkeleton3D
/// </summary>
/// <param name="depthImageFormat"></param>
/// <param name="pointDepth3D"></param>
/// <returns></returns>
public PointSkeleton3D MapDepthPointToSketelonPoint(DepthImageFormat depthImageFormat, PointDepth3D pointDepth3D)
{
DepthImagePoint point = new DepthImagePoint();
point.X = pointDepth3D.X;
point.Y = pointDepth3D.Y;
point.Depth = pointDepth3D.Depth;
return(new PointSkeleton3D(mapper.MapDepthPointToSkeletonPoint(depthImageFormat, point)));
}
